TWI616854B - Observation system and observation method - Google Patents
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Abstract
觀測系統係具有觀測裝置(100)、以及複數的節點(10)。觀測裝置(100)係對全部的節點10傳送資料收集命令,藉此自全部的節點(10)接收響應資料。觀測裝置(100)係根據自全部的節點(10)傳送的響應資料的欠損率而算出測定實施機率,且對全部的節點10通知測定實施機率。節點(10)係根據被通知的測定實施機率而進行環境資訊的傳送控制。 The observing system has an observing device (100) and a plurality of nodes (10). The observing device (100) transmits a data collection command to all of the nodes 10, thereby receiving response data from all nodes (10). The observation device (100) calculates the measurement implementation probability based on the impairment rate of the response data transmitted from all the nodes (10), and notifies all the nodes 10 of the measurement implementation probability. The node (10) performs environmental information transmission control based on the notified measurement implementation probability.
Description
本發明係有關於觀測系統等之技術。 The present invention relates to techniques for observing systems and the like.
習知技術中,存在有使用配置有進行無線通信之複數的感測器節點的無線感測器網路,而觀測裝置收集各種的環境資訊之監測技術。例如,環境資訊係包含溫度或溼度、地中的水分量、以及加速度的資訊。在以下的說明當中,將無線感測器網路表記為WSN。 In the prior art, there is a monitoring technology that uses a wireless sensor network configured with a plurality of sensor nodes for performing wireless communication, and the observation device collects various environmental information. For example, environmental information includes information on temperature or humidity, the amount of water in the ground, and acceleration. In the following description, the wireless sensor network is recorded as a WSN.
此處,由於WSN之各感測器節點係藉由太陽電池等而驅動,且長期性的量測環境資訊,故限定為無線通信所使用的電力。因此,各感測器節點係藉由中繼鄰接的其他的感測器節點之多重跳接式通信,將環境資訊傳送至觀測裝置,以取代直接將環境資訊傳送至遠距離的觀測裝置。 Here, since each sensor node of the WSN is driven by a solar cell or the like and measures environmental information for a long period of time, it is limited to the power used for wireless communication. Therefore, each sensor node transmits environmental information to the observation device by multiple hopping communication of other sensor nodes adjacent to the relay, instead of directly transmitting the environmental information to the remote observation device.
WSN之各感測器節點係預先設定感測週期,在各感測週期量測環境資訊,且將量測到的環境資訊傳送於主伺服器。 Each sensor node of the WSN presets a sensing period, measures environmental information in each sensing period, and transmits the measured environmental information to the main server.
專利文獻1:特開2003-115092號公報 Patent Document 1: JP-A-2003-115092
專利文獻2:特開2011-013765號公報 Patent Document 2: JP-A-2011-013765
專利文獻3:特開2012-080622號公報 Patent Document 3: JP-A-2012-080622
但,上述之習知技術係具有自各感測器節點而傳送於觀測裝置之環境資訊的數量不足的問題。 However, the above-mentioned conventional techniques have a problem that the amount of environmental information transmitted from the respective sensor nodes to the observation device is insufficient.
例如,包含於WSN之感測器節點的數量增多時,則會有在各節點之間易於產生擁塞之現象,且各感測器節點所量測到的環境資訊無法到達母節點之情形。觀測裝置在無法取得最低限度之環境資訊時,則難以進行正確的監測。 For example, when the number of sensor nodes included in the WSN increases, there is a tendency that congestion occurs between nodes, and the environmental information measured by each sensor node cannot reach the parent node. Observing devices are difficult to properly monitor when they are unable to obtain minimum environmental information.
其中之一個的觀點,本發明之目的係提供能抑止自各感測器節點傳送至觀測裝置之環境資訊的數量不足的情形之觀測系統及觀測方法。 In one of the views, it is an object of the present invention to provide an observation system and an observation method capable of suppressing an insufficient amount of environmental information transmitted from each sensor node to an observation device.
第1案係觀測系統為具有複數個節點、以及伺服器。伺服器係具有具體辨識部、算出部、以及通知部。節點係具有傳送部。具體辨識部係將資料傳送至複數個節點,且自複數個節點接收資料的響應,藉此將已自複數個節點到達伺服器之到達資料數予以具體辨識。算出部係以根據到達資料數及包含於系統的節點總數而得之資料的欠損率、以及要求資料數為基礎,算出複數個節點之中,為 了使伺服器接收要求資料數以上的資料而進行資料傳送之節點的比例。通知部係將藉由算出部所算出之比例的資訊通知複數個節點。傳送部係以比例的資訊作為基礎,而將資料傳送至前述伺服器。 The first case observation system has a plurality of nodes and a server. The server system has a specific identification unit, a calculation unit, and a notification unit. The node system has a transfer unit. The specific identification department transmits the data to a plurality of nodes, and receives responses of the data from the plurality of nodes, thereby specifically identifying the number of arrival data that has arrived from the plurality of nodes to the server. The calculation unit calculates a plurality of nodes based on the loss rate of the data obtained based on the number of arrival data and the total number of nodes included in the system, and the number of required data. The ratio of nodes that cause the server to receive data with more than the required number of data and transmit the data. The notification unit notifies the plurality of nodes of the information calculated by the calculation unit. The transmission unit transmits the data to the aforementioned server based on the proportional information.
本發明係可達成能抑止自感測器節點傳送至觀測裝置之環境資訊的數量不足的情形之功效。 The present invention achieves the effect of suppressing an insufficient amount of environmental information transmitted from the sensor node to the observation device.
10‧‧‧節點 10‧‧‧ nodes
10a‧‧‧節點 10a‧‧‧ nodes
10b‧‧‧節點 10b‧‧‧ nodes
10c‧‧‧節點 10c‧‧‧ nodes
10d‧‧‧節點 10d‧‧‧ nodes
10e‧‧‧節點 10e‧‧‧ nodes
10f‧‧‧節點 10f‧‧‧ nodes
10g‧‧‧節點 10g‧‧‧ nodes
10h‧‧‧節點 10h‧‧‧ nodes
10i‧‧‧節點 10i‧‧‧ nodes
10j‧‧‧節點 10j‧‧‧ nodes
11‧‧‧通信部 11‧‧‧Communication Department
12‧‧‧感測器 12‧‧‧ Sensors
13‧‧‧電池 13‧‧‧Battery
14‧‧‧記憶部 14‧‧‧Memory Department
14a‧‧‧環境資訊 14a‧‧‧Environmental Information
14b‧‧‧測定實施機率資訊 14b‧‧‧Measured probability of implementation
14c‧‧‧路徑表 14c‧‧‧Path Table
15‧‧‧控制部 15‧‧‧Control Department
15a‧‧‧測定部 15a‧‧‧Determination Department
15b‧‧‧接收傳送部 15b‧‧‧Receiving and transmitting department
21‧‧‧感測器元件 21‧‧‧ Sensor components
22‧‧‧能量收集元件 22‧‧‧ energy harvesting components
23‧‧‧電池 23‧‧‧Battery
24‧‧‧無線 24‧‧‧Wireless
25‧‧‧功率控制器 25‧‧‧Power Controller
26‧‧‧訊息處理機 26‧‧‧Message Processor
100‧‧‧觀測裝置 100‧‧‧ Observing device
110‧‧‧通信部 110‧‧‧Communication Department
120‧‧‧輸入部 120‧‧‧ Input Department
130‧‧‧顯示部 130‧‧‧Display Department
140‧‧‧記憶部 140‧‧‧Memory Department
141‧‧‧要求資料數資訊 141‧‧‧Request information
142‧‧‧節點總數資訊 142‧‧‧ Total number of nodes
143‧‧‧接收數資訊 143‧‧‧Received information
150‧‧‧控制部 150‧‧‧Control Department
151‧‧‧具體辨識部 151‧‧‧Specific Identification Department
152‧‧‧算出部 152‧‧‧ Calculation Department
153‧‧‧通知部 153‧‧ Notice Department
154‧‧‧判定部 154‧‧‧Decision Department
200‧‧‧電腦 200‧‧‧ computer
201‧‧‧CPU 201‧‧‧CPU
202‧‧‧輸入裝置 202‧‧‧ Input device
203‧‧‧顯示器 203‧‧‧ display
204‧‧‧讀取裝置 204‧‧‧Reading device
205‧‧‧介面裝置 205‧‧‧Interface device
206‧‧‧RAM 206‧‧‧RAM
206a‧‧‧具體辨識製程 206a‧‧‧Specific identification process
206b‧‧‧算出製程 206b‧‧‧Complete the process
206c‧‧‧通知製程 206c‧‧‧Notice
207‧‧‧記憶裝置 207‧‧‧ memory device
207a‧‧‧具體辨識程式 207a‧‧‧Specific identification program
207b‧‧‧算出程式 207b‧‧‧ Calculation program
207c‧‧‧通知程式 207c‧‧‧Notice program
208‧‧‧匯流排 208‧‧‧ busbar
第1圖係表示本實施例的觀測系統之一例之圖示。 Fig. 1 is a view showing an example of an observation system of the present embodiment.
第2圖係表示觀測系統之程序圖。 Figure 2 is a program diagram showing the observation system.
第3圖係表示觀測裝置之構成之功能方塊圖。 Figure 3 is a functional block diagram showing the configuration of the observation device.
第4圖係表示節點之構成之功能方塊圖。 Figure 4 is a functional block diagram showing the structure of a node.
第5圖係表示觀測裝置的處理順序之流程圖。 Figure 5 is a flow chart showing the processing sequence of the observation device.
第6圖係表示剖析處理的處理順序之流程圖。 Fig. 6 is a flow chart showing the processing procedure of the profiling process.
第7圖係表示監測處理的處理順序之流程圖。 Fig. 7 is a flow chart showing the processing sequence of the monitoring process.
第8圖係表示節點的處理順序之流程圖。 Figure 8 is a flow chart showing the processing sequence of the nodes.
第9圖係表示週期測定處理的處理順序之流程圖。 Fig. 9 is a flow chart showing the processing procedure of the cycle measurement process.
第10圖係表示節點的硬體構成之圖示。 Figure 10 is a diagram showing the hardware configuration of a node.
第11圖係表示執行觀測程式的電腦之一例之圖示。 Figure 11 is a diagram showing an example of a computer that executes an observation program.
以下,根據圖式而詳細說明本發明之觀測系統及觀測方法之實施例。又,並非以本實施例來限定本發明。 Hereinafter, embodiments of the observation system and the observation method of the present invention will be described in detail based on the drawings. Further, the present invention is not limited by the embodiment.
第1圖係表示本實施例的觀測系統之一例之圖示。如第1圖所示,該觀測系統係具有觀測裝置100、以及節點10a、10b、10c、10d、10e、10f、10g、10h、10i、10j。觀測裝置100係伺服器之一例。此處之一例雖為表示節點10a~10j,但,觀測系統亦可具有其他的節點。將節點10a~10j予以彙集而適當地表記為節點10。 Fig. 1 is a view showing an example of an observation system of the present embodiment. As shown in Fig. 1, the observation system has an observation device 100 and nodes 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, 10i, 10j. The observation device 100 is an example of a server. Although an example here is a node 10a to 10j, the observation system may have other nodes. The nodes 10a to 10j are collected and appropriately referred to as the node 10.
節點10係使用能量收集元件等而進行充電。將無線接收、感測器的反應等作為契機而執行各種的處理。此外,節點10係藉由無線方式而傳送使用感測器所量測之環境資訊或其他的資訊。節點10係在用盡電池時,再度進行充電,且重覆執行上述處理。環境資訊係例如包含溫度或溼度、地下的水分量、以及加速度的資訊。 The node 10 is charged using an energy harvesting element or the like. Various processes are performed by taking the wireless reception, the reaction of the sensor, and the like as an opportunity. In addition, the node 10 transmits environmental information or other information measured by the sensor by wireless means. When the battery 10 runs out of battery, the node 10 recharges and repeats the above processing. Environmental information is, for example, information on temperature or humidity, the amount of water in the ground, and acceleration.
節點10係藉由多重跳接式通信而將環境資訊或其他的資訊傳送至觀測裝置100。由於節點10係被限定為無線傳送所使用的電力,故電波到達距離較短。因此,節點10係當來自觀測裝置100的距離為較遠時,則無法進行直線無線通信。該情形時,節點10係藉由中繼其他的節點10之多重跳接式通信而將資料傳送至觀測裝置100。 The node 10 transmits environmental information or other information to the observation device 100 by multi-hop communication. Since the node 10 is limited to the power used for wireless transmission, the radio wave arrival distance is short. Therefore, when the distance from the observation device 100 is far from the node 10, linear wireless communication cannot be performed. In this case, the node 10 transmits the data to the observation device 100 by relaying the multi-hop communication of the other nodes 10.
例如,節點10j所傳送之觀測裝置100處的資料係中繼節點10h、10a而到達觀測裝置100。此外,觀測裝置100所傳送之節點10j處的資料係中繼節點10a、10h而到達節點10j。 For example, the data at the observation device 100 transmitted by the node 10j is the relay nodes 10h, 10a and arrives at the observation device 100. Further, the data at the node 10j transmitted by the observation device 100 is the relay nodes 10a, 10h and reaches the node 10j.
又,當節點10因為擁塞之現象等的影響而 產生資料的欠損時,則再度進行傳送資料之再送控制。 Also, when the node 10 is affected by the phenomenon of congestion or the like When the data is damaged, the retransmission control of the transmitted data is performed again.
觀測裝置100係進行剖析處理、以及監測處理。首先,說明有關於觀測裝置100所執行之剖析處理。觀測裝置100係對包含於觀測系統之全部的節點10傳送「資料收集命令」。節點10係在接收資料收集命令時,就將觀測裝置100作為收件地址而傳送響應資料。 The observation device 100 performs a profiling process and a monitoring process. First, the profiling process performed by the observation apparatus 100 will be described. The observation device 100 transmits a "data collection command" to all the nodes 10 included in the observation system. The node 10 transmits the response data as the receiving address when the data collection command is received.
觀測裝置100係自節點10接收響應資料,且將響應資料的數量予以具體辨識。在以下的說明當中,適當的將響應資料的數量表記為到達資料數。觀測裝置100係以包含於觀測系統的節點10之節點總數、以及到達資料數為基礎而算出欠損率。此外,觀測裝置100係以節點總數、欠損率、以及要求資料數為基礎而算出測定實施機率。觀測裝置100係將測定實施機率的資訊通知包含於觀測系統的全部的節點10,並轉移至後述之監測處理。 The observation device 100 receives the response data from the node 10 and specifically identifies the number of response data. In the following description, the amount of response data is appropriately recorded as the number of arrivals. The observation device 100 calculates the impairment rate based on the total number of nodes included in the node 10 of the observation system and the number of arrival data. Further, the observation apparatus 100 calculates the measurement implementation probability based on the total number of nodes, the damage rate, and the number of required documents. The observation device 100 notifies all the nodes 10 included in the observation system that the information on the measurement probability is measured, and shifts to the monitoring process described later.
要求資料數係管理者預先設定之值。該要求資料數被指定時,觀測裝置100就以自各節點10接收之資料的數量為要求資料數以上為條件而進行監測。測定實施機率係表示觀測裝置100為了接收在全部的節點10之中,要求資料數以上的資料所必需之進行資料的傳送之節點10的數量之比例。 The number of required documents is the value set by the manager in advance. When the requested data number is specified, the observation apparatus 100 monitors the number of pieces of data received from each node 10 as a condition of the number of requested data or more. The measurement execution probability is a ratio of the number of nodes 10 in which the observation device 100 transmits data in order to receive data requiring more than the number of data among all the nodes 10.
繼而說明有關於觀測裝置100所執行之監測處理。觀測裝置100係對包含於觀測系統的全部的節點10傳送「週期資料收集命令」。節點10係在接收週期資料收集命令時,則開始進行週期性的動作。節點10係在動作 當中,產生隨機變數,且當隨機變數為測定實施機率以下時,則將環境資訊傳送至觀測裝置100。另一方面,節點10係在隨機變數大於測定實施機率時,在續接之週期當中,能抑止傳送環境資訊至產生隨機變數為止。 Next, the monitoring process performed by the observation apparatus 100 will be described. The observation device 100 transmits a "period data collection command" to all the nodes 10 included in the observation system. When the node 10 receives the periodic data collection command, it starts the periodic operation. Node 10 is in action Among them, a random variable is generated, and when the random variable is below the measurement implementation probability, the environmental information is transmitted to the observation device 100. On the other hand, when the random variable is greater than the measurement implementation probability, the node 10 can suppress the transmission of environmental information until a random variable is generated during the continuous connection period.
觀測裝置100係在接收一週期份的環境資訊時,則將接收之一週期份的環境資訊的數量、以及要求資料數作比較。觀測裝置100係在環境資訊的數量為要求資料數以上時,繼續接收各週期所傳送的環境資訊之處理。另一方面,觀測裝置100係在環境資訊的數量為未滿要求資料數時,則轉移至剖析處理。 When the observation device 100 receives the environmental information of one cycle, it compares the number of environmental information received for one cycle and the number of required data. The observation device 100 continues to receive the environmental information transmitted in each cycle when the number of environmental information is equal to or greater than the required number of data. On the other hand, when the number of environmental information is less than the required number of pieces of information, the observation apparatus 100 shifts to the profiling process.
第2圖係觀測系統之程序圖。此處係圖示節點10a、10j,並省略其他的節點10之圖示。說明有關於剖析流程。觀測裝置100係將資料收集命令傳送至節點10(步驟S10)。節點10a係在接收到資料收集命令時,則將響應資料傳送至觀測裝置100(步驟S11)。節點10j係在接收到資料收集命令時,則將響應資料傳送於觀測裝置100(步驟S12)。 Figure 2 is a program diagram of the observing system. Here, the nodes 10a, 10j are illustrated, and the other nodes 10 are omitted. The description is about the profiling process. The observation device 100 transmits a material collection command to the node 10 (step S10). When receiving the data collection command, the node 10a transmits the response data to the observation device 100 (step S11). When receiving the data collection command, the node 10j transmits the response data to the observation device 100 (step S12).
觀測裝置100係在自節點10接收響應資料時,則算出測定實施機率(步驟S13)。觀測裝置100係將測定實施機率通知節點10a、10j(步驟S14)。 When the observation device 100 receives the response data from the node 10, the observation device 100 calculates the measurement implementation probability (step S13). The observation device 100 notifies the nodes 10a and 10j of the measurement implementation probability (step S14).
說明有關於監測流程。觀測裝置100係將週期資料收集命令傳送至節點10(步驟S20)。節點10a、10j係在接收到週期資料收集命令時,則進行週期T1的動作、以及週期T2的動作。 The instructions are related to the monitoring process. The observation device 100 transmits a cycle data collection command to the node 10 (step S20). When receiving the cycle data collection command, the nodes 10a and 10j perform the operation of the cycle T1 and the operation of the cycle T2.
說明有關於週期T1。節點10a係進行產生隨機變數,且將隨機變數與測定實施機率作比較之實施判斷(步驟S21)。節點10a係在隨機變數為測定實施機率以下時,進行感測而取得環境資訊(步驟S22)。節點10a係將環境資訊傳送至觀測裝置100(步驟S23)。 The description is about cycle T1. The node 10a performs an execution judgment of generating a random variable and comparing the random variable with the measurement implementation probability (step S21). When the random variable is equal to or less than the measurement execution probability, the node 10a performs sensing and acquires environmental information (step S22). The node 10a transmits the environmental information to the observation device 100 (step S23).
節點10j係進行產生隨機變數,且將隨機變數與測定實施機率作比較之實施判斷(步驟S24)。節點10j係在隨機變數為測定實施機率以下時,進行感測而取得環境資訊(步驟S25)。節點10j係將環境資訊傳送至觀測裝置100(步驟S26)。 The node 10j performs an execution judgment of generating a random variable and comparing the random variable with the measurement implementation probability (step S24). When the random variable is equal to or less than the measurement execution probability, the node 10j performs sensing to acquire environmental information (step S25). The node 10j transmits the environmental information to the observation device 100 (step S26).
說明有關於週期T2。節點10a係進行產生隨機變數,且將隨機變數與測定實施機率作比較之實施判斷(步驟S27)。節點10a係在隨機變數大於測定實施機率時,待機至續接的週期為止。 The description is about cycle T2. The node 10a performs an execution judgment of generating a random variable and comparing the random variable with the measurement implementation probability (step S27). The node 10a waits until the cycle of the continuation when the random variable is greater than the measurement implementation probability.
節點10j係進行產生隨機變數,且將隨機變數及測定實施機率作比較之實施判斷(步驟S28)。節點10j係在隨機變數為測定實施機率以下時,進行感測而取得環境資訊(步驟S29)。節點10j係將環境資訊傳送至觀測裝置100(步驟S30)。 The node 10j performs an execution judgment for generating a random variable and comparing the random variable with the measurement implementation probability (step S28). When the random variable is equal to or less than the measurement execution probability, the node 10j performs sensing to acquire environmental information (step S29). The node 10j transmits the environmental information to the observation device 100 (step S30).
如上述,本實施例之觀測系統中,觀測裝置係根據自全部的節點10所傳送之資料的欠損率而算出測定實施機率,且將測定實施機率通知全部的節點10。節點10係根據被通知的測定實施機率而進行環境資訊的傳送控制。因此,由於能抑止全部的節點10為一齊將環境資 訊傳送至觀測裝置100之情形,故能防止擁塞之現象,且確保要求資料數以上的環境資訊。此外,由於不易產生擁塞之現象,故能防止資料的欠損,且減少節點10之再度傳送環境資訊的次數而能抑制消費電力。 As described above, in the observation system of the present embodiment, the observation device calculates the measurement implementation probability based on the loss rate of the data transmitted from all the nodes 10, and notifies all the nodes 10 of the measurement implementation probability. The node 10 performs environmental information transmission control based on the notified measurement implementation probability. Therefore, since it is possible to suppress all the nodes 10 together, the environmental resources will be When the signal is transmitted to the observation device 100, congestion can be prevented, and environmental information requiring more than the number of data can be secured. In addition, since congestion is less likely to occur, data loss can be prevented, and the number of times the node 10 transmits environmental information again can be reduced to suppress consumption of power.
繼而說明有關於觀測裝置100之構成之一例。第3圖係表示觀測裝置之構成之功能方塊圖。如第3圖所示,觀測裝置100係具有通信部110、輸入部120、顯示部130、記憶部140、以及控制部150。 Next, an example of the configuration of the observation apparatus 100 will be described. Figure 3 is a functional block diagram showing the configuration of the observation device. As shown in FIG. 3, the observation apparatus 100 includes a communication unit 110, an input unit 120, a display unit 130, a storage unit 140, and a control unit 150.
通信部110係根據無線通信而和節點10進行資料通信之通信裝置。後述之控制部150係中介通信部110而和節點10相互取得資料。 The communication unit 110 is a communication device that performs data communication with the node 10 in accordance with wireless communication. The control unit 150, which will be described later, is an intermediate communication unit 110 and acquires data from each other with the node 10.
輸入部120係將各種的資訊輸入至觀測裝置100之輸入裝置。輸入裝置係對應於鍵盤或滑鼠、觸控板等之輸入裝置。 The input unit 120 inputs various kinds of information to the input device of the observation device 100. The input device corresponds to an input device such as a keyboard or a mouse, a touchpad, or the like.
顯示部130係顯示自控制部150所輸出的資訊之顯示裝置。顯示部130係對應於顯示器或觸控面板等。 The display unit 130 is a display device that displays information output from the control unit 150. The display unit 130 corresponds to a display, a touch panel, or the like.
記憶部140係具有要求資料數資訊141、節點總數資訊142、以及接收數資訊143。例如,記憶部140係對應於RAM(Random Access Memory)、ROM(Read Only Memory)、以及快閃記憶體(Flash Memory)等之半導體記憶體元件等之記憶裝置。 The memory unit 140 has required data number information 141, total node information 142, and reception number information 143. For example, the memory unit 140 is a memory device such as a semiconductor memory device such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory.
要求資料數資訊141係管理者等所設定之要求資料數的資訊。管理者係操作輸入部120而將要求資料數資訊141輸入至觀測裝置100。 The number of required information 141 is information on the number of required data set by the administrator or the like. The manager operates the input unit 120 to input the required number information 141 to the observation device 100.
節點總數資訊142係包含於觀測系統之節點總數的資訊。例如,管理者係預先掌握節點總數,操作輸入部120而將節點總數資訊142輸入至觀測裝置100。 The total node information 142 is information about the total number of nodes included in the observing system. For example, the administrator preliminarily grasps the total number of nodes, and operates the input unit 120 to input the node total information 142 to the observation device 100.
接收數資訊143係表示一週期份的環境資訊的接收數的資訊。接收數資訊143亦可保持各週期的環境資訊的接收數。 The reception number information 143 is information indicating the number of receptions of environmental information for one cycle. The reception number information 143 can also maintain the number of receptions of environmental information for each cycle.
控制部150係具有具體辨識部151、算出部152、通知部153、以及判定部154。控制部150係例如對應於ASIC(Application Specific Integrated Circuit)、或FPGA(Field Programmable Gate Array)等之積體裝置。此外,控制部150係例如對應於CPU(Central Processing Unit)、或MPU(Micro Processing Unit)等之電子電路。 The control unit 150 includes a specific identification unit 151, a calculation unit 152, a notification unit 153, and a determination unit 154. The control unit 150 is, for example, an integrated device such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). Further, the control unit 150 corresponds to, for example, an electronic circuit such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).
具體辨識部151係對觀測系統之節點10傳送資料收集命令,並合計來自節點10的響應資料之數量,藉此而將到達資料數予以具體辨識之處理部。具體辨識部151係將到達資料數的資訊輸出至算出部152。例如,具體辨識部151係在傳送資料收集命令之後,在相當於一週期份的一定時間之間,將自節點10所接收的響應資料之數量作為到達資料數而予以具體辨識。 The specific identification unit 151 is a processing unit that transmits a data collection command to the node 10 of the observation system and totals the number of response data from the node 10, thereby specifically identifying the number of arrival data. The specific identification unit 151 outputs information on the number of arrivals to the calculation unit 152. For example, the specific identification unit 151 specifically identifies the number of response data received from the node 10 as the number of arrival data after transmitting the data collection command for a certain period of time corresponding to one cycle.
算出部152係算出欠損率、以及測定實施機率之處理部。算出部152係將測定實施機率的資訊輸出至通知部153。說明有關於算出部152算出欠損率之處理。算出部152係根據式(1)而算出欠損率。在式(1)當中,到達資料數n係對應於算出部152自具體辨識部151而取得之 到達資料數。節點總數N係對應於包含於節點總數資訊142之節點總數。 The calculation unit 152 is a processing unit that calculates an impairment rate and measures the probability of implementation. The calculation unit 152 outputs information on the measurement implementation probability to the notification unit 153. A description will be given of a process in which the calculation unit 152 calculates an impairment rate. The calculation unit 152 calculates the impairment rate based on the equation (1). In the formula (1), the number of arrival data n is obtained by the calculation unit 152 from the specific identification unit 151. The number of arrivals. The total number of nodes N corresponds to the total number of nodes included in the total node information 142.
欠損率Z=到達資料數n/節點總數N…(1) Loss rate Z = number of arrivals n / total number of nodes N...(1)
繼而說明有關於算出部152算出測定實施機率之處理。算出部152係根據式(2)而算出測定實施機率。在式(2)當中,要求資料數Y係對應於要求資料數資訊141所包含之要求資料數。節點總數N係對應於節點總數資訊142所包含之節點總數。欠損率Z係根據式(1)而算出之欠損率Z。α係適當地由管理者所設定的界限。 Next, a process in which the calculation unit 152 calculates the measurement execution probability will be described. The calculation unit 152 calculates the measurement implementation probability based on the equation (2). In the formula (2), the required number of materials Y corresponds to the number of required documents included in the required number information 141. The total number of nodes N corresponds to the total number of nodes included in the total node information 142. The loss rate Z is the damage rate Z calculated from the formula (1). The alpha system is appropriately set by the administrator.
測定實施機率P=要求資料數Y/節點總數N×(1-欠損率Z)+α…(2) Measurement implementation probability P=required data number Y/node total number N×(1-loss rate Z)+α...(2)
此處,測定實施機率P係對應於欲收集要求資料數以上之資料數時,在節點總數之中,進行資料傳送所必需之節點數的比例之值。 Here, the measurement execution probability P is a value corresponding to the ratio of the number of nodes necessary for data transfer among the total number of nodes in order to collect the number of pieces of data required.
通知部153係將測定實施機率的資訊通知觀測系統之全部的節點10之處理部。通知部153係在結束測定實施機率的資訊之傳送時,則將結束剖析處理之宗旨的資訊輸出至判定部154。 The notification unit 153 notifies the processing unit of all the nodes 10 of the observation system that the information on the measurement probability is measured. When the notification unit 153 ends the transmission of the information for measuring the probability of execution, the notification unit 153 outputs the information for the purpose of the analysis processing to the determination unit 154.
上述之具體辨識部151、算出部152、以及通知部153所執行之處理係對應於剖析處理。 The processing performed by the specific identification unit 151, the calculation unit 152, and the notification unit 153 described above corresponds to the profiling process.
判定部154係在接收結束剖析處理之宗旨的資訊時,則將週期資料收集命令通知觀測系統之全部的 節點10,藉此開始進行監測處理。判定部154係在經過一週期時,則計算一週期份之環境資訊的接收數,並儲存於接收數資訊143。判定部154係將一週期份的接收數與要求資料數作比較,當一週期份的接收數為要求資料數以上時,則繼續進行監測處理。 When the determination unit 154 receives the information for the purpose of the end of the profiling process, the determination unit 154 notifies the cycle data collection command to all of the observation systems. The node 10 thereby starts the monitoring process. The determination unit 154 calculates the number of receptions of the environmental information for one cycle, and stores it in the reception number information 143. The determination unit 154 compares the number of receptions of one cycle and the number of required data, and when the number of receptions of one cycle is equal to or greater than the number of required data, the monitoring process is continued.
相對於此,判定部154係將一週期份的接收數與要求資料數作比較,當一週期份的接收數為未滿要求資料數時,則對具體辨識部151、算出部152、以及通知部153再度要求進行剖析處理。 On the other hand, the determination unit 154 compares the number of receptions of one cycle and the number of required data, and when the number of receptions of one cycle is less than the number of required documents, the specific identification unit 151, the calculation unit 152, and the notification The part 153 again requests the profiling process.
具體辨識部151、算出部152、以及通知部153係在接受剖析處理要求時,則再度執行剖析處理。 When the specific identification unit 151, the calculation unit 152, and the notification unit 153 receive the request for the analysis processing, the analysis processing is performed again.
繼而說明有關於節點10之構成之一例。第4圖係表示節點之構成之功能區塊圖。如第4圖所示,該節點10係具有通信部11、感測器12、電池13、記憶部14、以及控制部15。 Next, an example of the configuration of the node 10 will be described. Figure 4 is a functional block diagram showing the structure of a node. As shown in FIG. 4, the node 10 includes a communication unit 11, a sensor 12, a battery 13, a memory unit 14, and a control unit 15.
通信部11係根據無線通信而和其他的節點及觀測裝置100進行資料通信之處理部。後述之控制部15係中介通信部11而和其他的節點及觀測裝置100相互取得資料。 The communication unit 11 is a processing unit that performs data communication with other nodes and the observation device 100 in accordance with wireless communication. The control unit 15 to be described later is the intermediate communication unit 11 and acquires data from each other and the other nodes and the observation device 100.
感測器12係量測各種的環境資訊之感測器。例如,感測器12係量測氣溫、溼度、地下的水分量、以及加速度而作為環境資訊。 The sensor 12 is a sensor that measures various environmental information. For example, the sensor 12 measures temperature, humidity, amount of water in the ground, and acceleration as environmental information.
電池13係使用太陽面板等之能量收集元件而進行充電之電池。 The battery 13 is a battery that is charged using an energy harvesting element such as a solar panel.
記憶部14係具有環境資訊14a、測定實施機率資訊14b、以及路徑表14c。例如,記憶部14係對應於RAM、ROM、以及快閃記憶體等之半導體記憶體元件等之記憶裝置。 The memory unit 14 has environmental information 14a, measurement implementation probability information 14b, and a path table 14c. For example, the memory unit 14 corresponds to a memory device such as a RAM, a ROM, and a semiconductor memory element such as a flash memory.
環境資訊14a係藉由感測器12而測定之環境資訊。測定實施機率資訊14b係藉由觀測裝置100通知之測定實施機率的資訊。路徑表14c係具有將資料傳送至收件地址之路徑的資訊。例如,路徑表14c係將收件地址與達於收件地址之鄰接的節點予以相對應。 The environmental information 14a is environmental information measured by the sensor 12. The measurement implementation probability information 14b is information for measuring the probability of implementation by the observation device 100. The path table 14c is information having a path for transmitting data to the destination address. For example, the path table 14c associates the recipient address with a node that is adjacent to the recipient address.
控制部15係具有測定部15a、以及接收傳送部15b。控制部15係例如對應於ASIC、或FPGA等之積體裝置。此外,控制部15係例如對應於CPU、或MPU等之電子電路。控制部15係使用未圖示之計時器,根據預先設定之固定週期而進行間歇動作。又,控制部15也可在感測器12檢測出環境資訊的變化時,開始動作,且在開始動作的預定時間之後,重覆執行轉移至休眠狀態之處理。 The control unit 15 includes a measurement unit 15a and a reception transmission unit 15b. The control unit 15 corresponds to, for example, an integrated device such as an ASIC or an FPGA. Further, the control unit 15 corresponds to, for example, an electronic circuit such as a CPU or an MPU. The control unit 15 performs an intermittent operation based on a predetermined fixed period using a timer (not shown). Moreover, the control unit 15 may start the operation when the sensor 12 detects a change in the environmental information, and may repeat the process of shifting to the sleep state after a predetermined time to start the operation.
測定部15a係自感測器12取得環境資訊14a,且將所取得之環境資訊14a儲存到記憶部14之處理部。 The measurement unit 15a acquires the environmental information 14a from the sensor 12, and stores the acquired environmental information 14a in the processing unit of the storage unit 14.
接收傳送部15b係在自觀測裝置100接收資料收集命令時,將響應資料傳送至觀測裝置100。接收傳送部15b係在自觀測裝置100接收測定實施機率資訊14b時,將測定實施機率資訊14b儲存到記憶部14。 The reception transmitting unit 15b transmits the response data to the observation device 100 when receiving the data collection command from the observation device 100. The reception transmitting unit 15b stores the measurement execution probability information 14b in the storage unit 14 when the measurement execution probability information 14b is received from the observation device 100.
接收傳送部15b係根據隨機函數而產生0~1 的隨機變數,且將隨機變數和測定實施機率資訊14b的測定實施機率作比較。接收傳送部15b係在隨機變數為測定實施機率以下時,將環境資訊14a傳送至觀測裝置100。另一方面,接收傳送部15b係在隨機變數為大於測定實施機率時,抑止將環境資訊14a傳送至觀測裝置100。 The receiving and transmitting unit 15b generates 0 to 1 according to a random function. The random variable is compared and the random variable is compared to the measurement implementation probability of the measurement implementation probability information 14b. The reception transmission unit 15b transmits the environmental information 14a to the observation apparatus 100 when the random variable is equal to or lower than the measurement execution probability. On the other hand, the reception transmitting unit 15b suppresses the transmission of the environmental information 14a to the observation apparatus 100 when the random variable is greater than the measurement implementation probability.
繼而說明有關於本實施例之觀測裝置100之處理順序。第5圖係表示觀測裝置的處理順序之流程圖。如第5圖所示,觀測裝置100係執行剖析處理(步驟S101)。觀測裝置100係執行監測處理(步驟S102)。觀測裝置100係在未結束處理時(步驟S103,No),轉移至步驟S101。觀測裝置100係在結束處理時(步驟S103,Yes),結束處理。 Next, the processing sequence of the observation apparatus 100 of the present embodiment will be described. Figure 5 is a flow chart showing the processing sequence of the observation device. As shown in Fig. 5, the observation apparatus 100 performs a profiling process (step S101). The observation device 100 performs monitoring processing (step S102). When the observation apparatus 100 has not finished processing (step S103, No), the process proceeds to step S101. When the observation device 100 ends the processing (Yes in step S103), the processing ends.
繼而說明有關於第5圖之步驟S101所示之剖析處理的處理順序。第6圖係表示剖析處理的處理順序之流程圖。如第6圖所示,觀測裝置100之具體辨識部151係對全部的節點10傳送資料收集命令(步驟S150),並接收響應資料(步驟S151)。 Next, the processing procedure of the profiling processing shown in step S101 of Fig. 5 will be described. Fig. 6 is a flow chart showing the processing procedure of the profiling process. As shown in Fig. 6, the specific identification unit 151 of the observation apparatus 100 transmits a material collection command to all the nodes 10 (step S150), and receives response data (step S151).
具體辨識部151係判定是否經過一定時間(步驟S152)。具體辨識部151係在未經過一定時間時(步驟S152,No),轉移至步驟S151。另一方面,在經過一定時間時(步驟S152,Yes),觀測裝置100之算出部152係算出測定實施機率(步驟S153)。觀測裝置100之通知部153係對全部的節點10傳送測定實施機率(步驟S154)。 The specific identification unit 151 determines whether or not a certain period of time has elapsed (step S152). When the specific identification unit 151 has not elapsed for a certain period of time (step S152, No), the process proceeds to step S151. On the other hand, when a certain period of time has elapsed (Yes in step S152), the calculation unit 152 of the observation apparatus 100 calculates the measurement execution probability (step S153). The notification unit 153 of the observation device 100 transmits the measurement implementation probability to all of the nodes 10 (step S154).
繼而說明有關於第5圖之步驟S102所示之 監測處理的處理順序。第7圖係表示監測處理的處理順序之流程圖。如第7圖所示,觀測裝置100之判定部154係對全部的節點10傳送週期資料收集命令(步驟S161)。 Then, it is explained in step S102 of FIG. Monitor the processing sequence of the process. Fig. 7 is a flow chart showing the processing sequence of the monitoring process. As shown in Fig. 7, the determination unit 154 of the observation apparatus 100 transmits a cycle data collection command to all the nodes 10 (step S161).
判定部154係接收環境資訊(步驟S162)。判定部154係判定是否接收一週期份的環境資訊(步驟S163)。判定部154係在未接收一週期份的環境資訊時(步驟S163,No),轉移至步驟S162。另一方面,判定部154係在接收一週期份的環境資訊時(步驟S163,Yes),轉移至步驟S164。 The determination unit 154 receives the environmental information (step S162). The determination unit 154 determines whether or not to receive the environmental information of one cycle (step S163). When the determination unit 154 does not receive the environmental information of one cycle (step S163, No), the process proceeds to step S162. On the other hand, when the determination unit 154 receives the environmental information of one cycle (step S163, Yes), the process proceeds to step S164.
判定部154係將接收數和要求資料數作比較(步驟S164)。判定部154係在接收數為未滿要求資料數時(步驟S165,Yes),結束監測處理。另一方面,判定部154係在接收數非未滿要求資料數時(步驟S165,No),轉移至步驟S162。 The determination unit 154 compares the number of receptions with the number of required documents (step S164). The determination unit 154 ends the monitoring process when the number of receptions is less than the required number of data (Yes in step S165). On the other hand, when the number of reception non-excessive required data is received (step S165, No), the determination unit 154 proceeds to step S162.
繼而說明有關於節點10的處理順序。第8圖係表示節點的處理順序之流程圖。如第8圖所示,節點10係判定是否已接收資料收集命令(步驟S201)。節點10係在未接收資料收集命令時(步驟S201,No),再度轉移至步驟S201。 Next, the processing sequence of the node 10 will be described. Figure 8 is a flow chart showing the processing sequence of the nodes. As shown in Fig. 8, the node 10 determines whether or not the material collection command has been received (step S201). When the node 10 does not receive the material collection command (step S201, No), the node 10 shifts to step S201 again.
節點10係在已接收資料收集命令時(步驟S201,Yes),傳送響應資料(步驟S202)。節點10係判定是否已接收測定實施機率(步驟S203)。節點10係在未接收測定實施機率時(步驟S203,No),再度轉移至步驟S203。 The node 10 transmits the response data when the data collection command has been received (Yes in step S201) (step S202). The node 10 determines whether or not the measurement implementation probability has been received (step S203). When the node 10 does not receive the measurement implementation probability (No in step S203), the process proceeds to step S203 again.
節點10係在接收測定實施機率時(步驟 S203,Yes),保存測定實施機率(步驟S204)。節點10係判定是否已接收週期資料收集命令(步驟S205)。節點10係在未接收週期資料收集命令時(步驟S205,No),再度轉移至步驟S205。 Node 10 is in receiving the measurement implementation probability (step S203, Yes), the measurement implementation probability is saved (step S204). The node 10 determines whether or not the periodic data collection command has been received (step S205). When the node 10 does not receive the cycle data collection command (step S205, No), the process proceeds to step S205 again.
節點10係在已接收週期資料收集命令時(步驟S205,Yes),執行週期測定處理(步驟S206)。節點10係判定是否已接收資料收集命令(步驟S207)。節點10係在未接收資料收集命令時(步驟S207,No),轉移至步驟S209。 When the node 10 has received the cycle data collection command (step S205, Yes), the node 10 executes the cycle measurement process (step S206). The node 10 determines whether or not the material collection command has been received (step S207). When the node 10 does not receive the material collection command (step S207, No), the process proceeds to step S209.
節點10係在已接收資料收集命令時(步驟S207,Yes),傳送響應資料(步驟S208),並轉移至步驟S209。 When the node 10 has received the data collection command (Yes in step S207), the node 10 transmits the response data (step S208), and the process proceeds to step S209.
節點10係判定是否已接收測定實施機率(步驟S209)。節點10係在未接收測定實施機率時(步驟S209,No),轉移至步驟S206。節點10係在已接收測定實施機率時(步驟S209,Yes),保存測定實施機率(步驟S210),並轉移至步驟S206。 The node 10 determines whether or not the measurement implementation probability has been received (step S209). When the node 10 does not receive the measurement implementation probability (step S209, No), the process proceeds to step S206. When the node 10 has received the measurement execution probability (Yes in step S209), the node 10 stores the measurement execution probability (step S210), and the process proceeds to step S206.
繼而說明有關於第8圖之步驟S206所示之週期測定處理的處理順序。第9圖係表示週期測定處理的處理順序之流程圖。如第9圖所示,節點10係判定是否已經過週期(步驟S250)。節點10係在未經過週期時(步驟S250,No),結束週期測定處理。 Next, the processing procedure of the period measurement processing shown in step S206 of Fig. 8 will be described. Fig. 9 is a flow chart showing the processing procedure of the cycle measurement process. As shown in Fig. 9, the node 10 determines whether or not the period has elapsed (step S250). When the node 10 has not passed the cycle (step S250, No), the cycle measurement process is ended.
另一方面,節點10係在已經過週期時(步驟S250,Yes),產生隨機變數(步驟S251)。節點10係在隨機變數為測定實施機率以下時(步驟S252,No),傳送環境資 訊(步驟S253),且結束週期測定處理。節點10係在隨機變數為大於測定實施機率時(步驟S252,Yes),結束週期測定處理。 On the other hand, when the node 10 has passed the cycle (Yes in step S250), a random variable is generated (step S251). The node 10 transmits the environmental resource when the random variable is equal to or less than the measurement execution probability (step S252, No). (Step S253), and the cycle measurement process is ended. When the random variable is greater than the measurement execution probability (Yes in step S252), the node 10 ends the cycle measurement process.
繼而說明有關於本實施例之觀測系統的功效。觀測裝置100係根據自全部的節點10所傳送之響應資料的欠損率而算出測定實施機率,且將測定實施機率通知全部的節點10。節點10係根據被通知的測定實施機率而進行環境資訊的傳送控制。因此,由於能抑止全部的節點10一齊將環境資訊傳送於觀測裝置100之情形,故能防止擁塞現象,且確保要求資料數以上的環境資訊。此外,由於不易產生擁塞現象,故能防止資料的欠損,且減少節點10再度傳送環境資訊的次數而能抑制起因於再度傳送的消費電力。 Next, the efficacy of the observation system of the present embodiment will be explained. The observation device 100 calculates the measurement implementation probability based on the impairment rate of the response data transmitted from all the nodes 10, and notifies all the nodes 10 of the measurement implementation probability. The node 10 performs environmental information transmission control based on the notified measurement implementation probability. Therefore, since it is possible to suppress all the nodes 10 from transmitting the environmental information to the observation apparatus 100 at the same time, it is possible to prevent the congestion phenomenon and ensure the environmental information of the required number of data or more. Further, since congestion is less likely to occur, it is possible to prevent data loss, and to reduce the number of times the node 10 transmits environmental information again, and it is possible to suppress consumption power caused by retransmission.
繼而說明有關於節點10的硬體構成之一例。第10圖係表示節點的硬體構成之圖示。例如,節點10係具有感測器元件21、能量收集元件22、電池23、無線24、功率控制器25、以及訊息處理機26。 Next, an example of a hardware configuration of the node 10 will be described. Figure 10 is a diagram showing the hardware configuration of a node. For example, node 10 has sensor element 21, energy harvesting element 22, battery 23, wireless 24, power controller 25, and message processor 26.
感測器元件21係測定環境資訊的感測器。能量收集元件22係使用環境電波或溫度等而進行微弱發電之元件。電池23係儲存藉由能量收集元件22所發電之電氣的電池。無線24係和其他的節點進行資料通信之裝置。功率控制器25係進行節點10的電力管理之裝置。訊息處理機26係執行對應於第4圖所示之控制部15的處理之裝置。 The sensor element 21 is a sensor that measures environmental information. The energy harvesting element 22 is an element that performs weak power generation using ambient electric waves, temperature, or the like. The battery 23 stores an electrical battery that is powered by the energy harvesting element 22. A device in which the wireless 24 system communicates with other nodes for data communication. The power controller 25 is a device that performs power management of the node 10. The message processor 26 is a device that executes the processing corresponding to the control unit 15 shown in Fig. 4.
繼而說明執行能實現和上述之實施例所示的觀測裝置100相同的功能之觀測程式的電腦之一例。第11圖係表示執行觀測程式的電腦之一例之圖示。 Next, an example of a computer that executes an observation program that can achieve the same function as the observation apparatus 100 shown in the above-described embodiment will be described. Figure 11 is a diagram showing an example of a computer that executes an observation program.
如第11圖所示,電腦200係具有:CPU 201,其係執行各種演算處理;輸入裝置202,其係接受來自使用者之資料的輸入;以及顯示器203。此外,電腦200係具有:讀取裝置204,其係自記憶媒體讀取程式等;以及介面裝置205,其係中介網路而在和其他的電腦之間進行資料的授受。此外,電腦200係具有:RAM 206,其係暫時記憶各種資訊;以及記憶裝置207。此外,各裝置201~207係連接於匯流排208。 As shown in FIG. 11, the computer 200 has a CPU 201 that performs various arithmetic processing, an input device 202 that accepts input from a user's material, and a display 203. Further, the computer 200 includes a reading device 204 that reads a program from a memory medium, and the like, and an interface device 205 that mediates and exchanges data with other computers. Further, the computer 200 has a RAM 206 that temporarily stores various kinds of information, and a memory device 207. Further, each of the devices 201 to 207 is connected to the bus bar 208.
記憶裝置207係例如具有具體辨識程式207a、算出程式207b、以及通知程式207c。CPU 201係讀取具體辨識程式207a、算出程式207b、以及通知程式207c,並展開於RAM 206。具體辨識程式207a係具備具體辨識製程206a的功能。算出程式207b係具備算出製程206b的功能。通知程式207c係具備通知製程206c的功能。 The memory device 207 has, for example, a specific recognition program 207a, a calculation program 207b, and a notification program 207c. The CPU 201 reads the specific identification program 207a, the calculation program 207b, and the notification program 207c, and expands the RAM 206. The specific identification program 207a has a function of specifically identifying the process 206a. The calculation program 207b has a function of calculating the process 206b. The notification program 207c is provided with a function of the notification process 206c.
具體辨識製程206a之處理係對應於具體辨識部151之處理。算出製程206b之處理係對應於算出部152之處理。通知製程206c係對應於通知部153之處理。 The processing of the specific identification process 206a corresponds to the processing of the specific identification unit 151. The processing of the calculation process 206b corresponds to the processing of the calculation unit 152. The notification process 206c corresponds to the processing of the notification unit 153.
又,有關於具體辨識程式207a、算出程式207b、以及通知程式207c並非必須自最初就記憶於記憶裝置207。例如,亦可將各程式207a~207c記憶於***電腦200之可撓性光碟(FD)、CD-ROM、DVD光碟、光磁碟、 IC卡等之「可攜式之實體媒體」。此外,電腦200亦可自此等裝置而讀取並執行各程式207a~207c。 Further, the specific identification program 207a, the calculation program 207b, and the notification program 207c are not necessarily memorized in the memory device 207 from the beginning. For example, each of the programs 207a to 207c may be stored in a flexible optical disk (FD), a CD-ROM, a DVD, a magnetic disk, or the like inserted into the computer 200. "Portable physical media" such as IC cards. In addition, the computer 200 can read and execute the programs 207a to 207c from these devices.
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JPWO2016194235A1 (en) | 2018-03-08 |
US20180067218A1 (en) | 2018-03-08 |
JP6447723B2 (en) | 2019-01-09 |
WO2016194235A1 (en) | 2016-12-08 |
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